function res = lstraight_0_results
 res = ... 
 { ... 
	struct('axle', 0.088735, ... 
	 'l_diam', 0.0415778, ... 
	 'r_diam', 0.041715, ... 
	 'l_x', -0.00583202, ... 
	 'l_y', 0.000371476, ... 
	 'l_theta', 0.00999903, ... 
	 'E_d', 1.0033, ... 
	 'E_b', 0.985945, ... 
	 'covariance', [7.31795e-09, 7.182e-09, 3.08937e-08, 2.6008e-12, -7.8049e-11, -1.57847e-09;  7.182e-09, 7.36907e-09, 3.10052e-08, 3.05479e-12, 2.7255e-10, -2.6096e-09;  3.08937e-08, 3.10052e-08, 1.33598e-07, -1.00028e-10, 4.24694e-10, -8.91678e-09;  2.6008e-12, 3.05479e-12, -1.00028e-10, 1.71904e-08, -2.75095e-10, -9.86937e-10;  -7.8049e-11, 2.7255e-10, 4.24694e-10, -2.75095e-10, 3.89139e-08, -4.44359e-08;  -1.57847e-09, -2.6096e-09, -8.91678e-09, -9.86937e-10, -4.44359e-08, 7.44888e-06])... 
 }; 
